• 한국정밀공학회지
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• 제18권5호
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• pp.65-73
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• 2001

In this paper, a mobile system using multi-wheel steering and driving mechanism is proposed to maximize maneuverability of the wheeled mobile system. Among various possible configurations, the two-wheel steering and driving systems, which is minimal in structural requirement, is proposed to reduce the complexity in actual design and difficulties in control. The system possesses three or four degrees of freedom depending on the orientations of two wheels, one or two for driving and two for steering, which implies that the system's mobility is always less than three DOF. The proposed system, nonetheless, can exactly emulate characteristics of the omnidirectional motion as long as the planned path is smooth i.e., the curvature changes continuously while velocity is not zero. Efficient kinematic and dynamic control algorithms are proposed for position and orientation control of the proposed wheeled mobile system.

• 한국농업기계학회:학술대회논문집
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• 한국농업기계학회 1996년도 International Conference on Agricultural Machinery Engineering Proceedings
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• pp.469-477
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• 1996

In order to maintain a constant ratio between the ground wheel and fed shaft of planters, a feedback control unit was designed to drive the feed shaft in proportional to the ground speed. The fifth wheel was used as a ground speed sensor for the control unit. Using this control unit a feed shaft driving system was developed and tested both in the laboratory and field to evaluate it performance . The test results showed that the system drove the feed shaft in proportional to the ground speed in the normal planting speed range of 0.5 -0.8m/s with an error of less than 5%.

• 한국자동차공학회논문집
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• 제19권2호
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• pp.1-11
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• 2011

The skid-steering method that applied a number of mobile robot currently is extremely effective in narrow area. But it contains several problems such as its natural properties, slip, occurred by different direction between vehicle's driving and wheel's rotary. Through this paper, suitable control algorithm of $6{\times}6$ skid steering wheeled vehicle and its driving methods are proposed by analyzing the behavior $6{\times}6$ skid-steered wheeled vehicle model designed by engineering analysis strategy. To do this, based on a behavior of designed driving system, required torque and other performance of in-wheel type motor system are considered, and finally control algorithm for each wheel is proposed and simulated using this model. To test the proposed vehicle system, driver model is designed using PID closed loop system and included in the total driving control algorithm. The Performance of designed vehicle model is verified by using DYC (Direct Yaw Control) cornering mode and slip mode control to follow the steering input which are essential to evaluate the driving performance of $6{\times}6$ vehicle. Proposed modeling strategy and control method will be implemented to the real $6{\times}6$ in-wheel drive type vehicle.

• 한국철도학회논문집
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• 제8권3호
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• pp.216-221
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• 2005

In electric motor coaches, the rolling stocks move by the adhesive effort between rail and driving wheel. Generally, the adhesive effort is defined by the function of both the wright of electric motor coach and the adhesive effort between rails and driving wheel. The characteristics of adhesive effort is strongly affected by the conditions between rails and driving wheel. When the adhesive effort decreases suddenly, the electric motor coach has slip phenomena. This paper proposes a re-adhesion control based on disturbance observer and sensor-less vector control. The numerical simulation and experimental results point out that the proposed re-adhesion control system has the desired driving wheel torque response for the tested bogie system of electric coach. Based on this estimated adhesive effort, the re-adhesion control is performed to obtain the maximum transfer of the tractive effort.

• 로봇학회논문지
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• 제9권1호
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• pp.67-77
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• 2014

An electric motor is the one of the most important parts in robot systems, which mainly drives the wheel of mobile robots or the joint of manipulators. According to the requirement of motor performance, the controller type and parameters vary. For the wheel driving motors, a speed tracking controller is used, while a position tracking controller is required for the joint driving motors. Moreover, if the mechanical parameters are changed or a different motor is used, we might have to tune again the controller parameters. However, for the beginners who are not familiar about the controller design, it is hard to design pertinently. In this paper, we develop a nominal robust controller model for the velocity tracking of wheel driving motors and the position tracking of joint driving motors based on the disturbance observer (DOB) which can reject disturbances, modeling errors, and dynamic parameter variations, and propose the methodology for the determining the least control parameters. The proposed control system enables the beginners to easily construct a controller for the newly designed robot system. The purpose of this paper is not to develop a new controller theory, but to increase the user-friendliness. Finally, simulation and experimental verification have performed through the actual wheel and joint driving motors.

• 동력기계공학회지
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• 제16권1호
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• pp.91-97
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• 2012

It is being accelerated to develop environment-friendly vehicles to solve problems on the energy and environment of earth. The electric driving motor commonly installed in these vehicles has the excellent control capability such as fast response and accurate generation to torque control command. Especially, in-wheel motor has the additional merit such as independently driving each wheel in vehicle. Recently, being developed various control algorithm to enhance the safety and stability of vehicle motion using actively the merits of in-wheel motor. In addition to that, being issued the possibility of enhancing the ride comfort and attitude of vehicle motion such as pitching and rolling. In this paper, investigate the theoretical relationship between the braking/driving force and the motion of sprung mass of vehicle and propose the control method to enhance the ride comfort and attitude of vehicle motion. The proposed control method is proved through the simulation with vehicle model provided by TruckSim software which is commercial one and specializes in vehicle dynamics.

• 한국산업정보학회논문지
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• 제28권4호
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• pp.35-43
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• 2023

차세대 전기자동차에서는 전비 향상 및 주행 성능 개선을 위하여 각 휠에 의해 직접적으로 토크를 제어하는 인 휠 모터 시스템에 대한 연구가 진행되고 있다. 이에 따라 본 논문에서는 전기자동차 구동용 인 휠 모터에 적용되는 토크 벡터링 시스템에서 각 휠에 가해지는 토크를 분배하는 알고리즘에 대한 연구를 수행하였다. 차량의 주행 및 조향에 따른 실제 차량 특성 파라미터를 적용한 차량 모델을 구현하기 위해 MATLAB Simulink 환경에서 시뮬레이션을 진행하였으며 제안된 알고리즘에 따라 토크 분배가 이뤄지는 것을 확인하였다.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2007년도 춘계학술대회A
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• pp.997-1002
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• 2007

A guideway vehicle is used in automobile, semiconductor and LCD manufacturing industries to transport products efficiently. Since the operating speed of the guideway vehicle should be increased for maximum productivity, the weight of the vehicle has to be reduced. This may cause parts in the system to fail before the life of the system. Therefore estimation of the fatigue life of the parts becomes an important problem. In this study, the fatigue life of the driving wheel in the guideway vehicle is estimated using a S-N curve. To obtain the fatigue life of a part, the S-N curve, load time history applied on a driving wheel and material property are required. The S-N curve of the driving wheel is obtained using the fatigue experiment on wheels. Load time history of the wheel is obtained from multibody dynamics analysis. To obtain the material properties of the driving wheel, which is composed of aluminum with urethane coating, a compression hardware testing has been done with the static analysis of the FE model. The fatigue life prediction using computational analysis model guarantees the safety of the vehicle at the design stage of the product.

• 한국생산제조학회지
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• 제7권6호
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• pp.141-148
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• 1998

A loader is construction & road or agricultural machinery for lifting, moving, and mixing. This study deals with the agricultural mini loader for stock raising farming. The performance of the machine is established by pulling power, working lifting capacity, and minimum circling radius, etc. Also, driving easiness and endurance are very important in manufacturing. Thus, this study has developed the loader with the 4-wheel driving equipment by gear transmission, the 4-wheel steering equipment by power handle steering type, and the equipment making four wheels touch simultaneously on the rugged ground. The developed loader having these functions was very fit in a small cattle shed or a rugged ground. This study is divided into two parts; (I) development of 4WS transmission and (II) construction of the loader by 4WS system and other equipments.

• Journal of Biosystems Engineering
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• 제21권4호
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• pp.399-405
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• 1996

In order to maintain a constant speed ratio between the tractor and attached seed planter, a feedback control unit to rotate the feed shaft of the planter in proportional to the ground speed of the tractor was designed. The fifth wheel was used as a ground speed sensor for the unit. Using this control unit a feed shaft driving system was developed and tested to estimate its performance both in laboratory and fields. The test results showed that the system rotates the feed shaft proportionally to the ground speed in the range of the normal planting speed of 0.5-0.8m/s with errors less than 5%.